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Tracking-based Interactive Segmentation of Textureless Objects

Hausman, Karol and Balint-Benczedi, Ferenc and Pangercic, Dejan and Marton, Zoltan-Csaba and Ueda, Ryohei and Okada, Kei and Beetz, Michael (2013) Tracking-based Interactive Segmentation of Textureless Objects. In: IEEE International Conference on Robotics and Automation (ICRA). IEEE International Conference on Robotics and Automation (ICRA), 6-10 May 2013, Karlsruhe, Germany.

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Abstract

This paper describes a textureless object segmentation approach for autonomous service robots acting in human living environments. The proposed system allows a robot to effectively segment textureless objects in cluttered scenes by leveraging its manipulation capabilities. In our pipeline, the cluttered scenes are first statically segmented using state-of-the-art classification algorithm and then the interactive segmentation is deployed in order to resolve this possibly ambiguous static segmentation. In the second step the RGBD (RGB + Depth) sparse features, estimated on the RGBD point cloud from the Kinect sensor, are extracted and tracked while motion is induced into a scene. Using the resulting feature poses, the features are then assigned to their corresponding objects by means of a graph-based clustering algorithm. In the final step, we reconstruct the dense models of the objects from the previously clustered sparse RGBD features. We evaluated the approach on a set of scenes which consist of various textureless flat (e.g. box-like) and round (e.g. cylinder-like) objects and the combinations thereof.

Item URL in elib:https://elib.dlr.de/87244/
Document Type:Conference or Workshop Item (Speech)
Additional Information:Best Service Robotics Paper Award Finalist
Title:Tracking-based Interactive Segmentation of Textureless Objects
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hausman, Karolhausman (at) cs.tum.eduUNSPECIFIED
Balint-Benczedi, Ferencbalintbe (at) cs.uni-bremen.deUNSPECIFIED
Pangercic, Dejandejan.pangercic (at) gmail.comUNSPECIFIED
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Ueda, Ryoheiueda (at) jsk.t.u-tokyo.ac.jpUNSPECIFIED
Okada, Keik-okada (at) jsk.t.u-tokyo.ac.jpUNSPECIFIED
Beetz, Michaelbeetz (at) cs.uni-bremen.deUNSPECIFIED
Date:2013
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Series Name:Proceedings of IEEE International Conference on Robotics and Automation
Status:Published
Keywords:segmentation, tracking, clutter, interaction, textureless
Event Title:IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Karlsruhe, Germany
Event Type:international Conference
Event Dates:6-10 May 2013
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Marton, Dr. Zoltan-Csaba
Deposited On:07 Jan 2014 15:46
Last Modified:31 Jul 2019 19:44

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